CN1453185A - Bionic electromagnetically driven flapping wing unit for mini aircraft - Google Patents
Bionic electromagnetically driven flapping wing unit for mini aircraft Download PDFInfo
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- CN1453185A CN1453185A CN 03112944 CN03112944A CN1453185A CN 1453185 A CN1453185 A CN 1453185A CN 03112944 CN03112944 CN 03112944 CN 03112944 A CN03112944 A CN 03112944A CN 1453185 A CN1453185 A CN 1453185A
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Abstract
The bionic electromagnetically driven flapping wing unit is one mini aircraft and consists of planar wings, electromagnetic driver, control system and fuselage. Film is adhered onto planar netted skeleton to form the wing, and each planar netted skeleton has three relatively thick shafts with three parallel driving shafts perpendicular to the longitudinal central line of the aircraft. Each planar wing has one vibration eliminating block adhered to the front edge, and corresponding to each driving shaft, there are two independent parallel electromagnetic drivers. The coil axle, the coil, the spring and the permanent magnet have their axes coincide each other and perpendicular to wing surface and driving shaft. Each unit has at least one pair of planar wings and 12 electromagnetic drivers set symmetrically on the fuselage.
Description
One, technical field
The present invention is a kind of minitype bionic aviation aircraft, especially a kind of bionic micro aircraft with flapping wing device.
Two, background technology
With natural biofacies ratios such as birds, the performance of the human all kinds of airdreadnoughts of being invented is quite outstanding, but the flight theory of airdreadnought is invalid substantially in miniature aviation aircraft field, perhaps unusual poor efficiency.In miniature aviation aircraft field, the flight performance of natural biology (as insect) and technology then are far superior to the human aircraft of being invented, and flight system of imitation insect and airmanship are to improve a kind of effective means of miniature aviation aircraft technology.
Three, technology contents
1, technical matters
The bionical Electromagnetic Drive flapping wing device that the purpose of this invention is to provide a kind of minute vehicle, structure, distortion and the characteristics of motion of this flapping wing device imitation insect flapping wing device, make the minitype bionic aircraft that this kind " bionical Electromagnetic Drive flapping wing device " has been installed that two wings that can move as insect wing to (or a pair of) be arranged, thus make the minitype bionic aircraft might be as the insect freedom, flexibly, fly promptly.
2, technical scheme
The bionical Electromagnetic Drive flapping wing device of minute vehicle provided by the invention, formed by planar wings, electromagnetic driver, control system, fuselage, planar wings comprises the plane mesh skeleton, the flutter piece that disappears, film, back dynamical axis, medium power axle, preceding dynamical axis, plane mesh skeleton main shaft, and electromagnetic driver comprises coil axes, coil, spring, permanent magnet; Film is bonded on the mesh skeleton of plane, form aerofoil, each plane mesh skeleton has 3 thicker plane mesh skeleton main shafts, plane mesh skeleton main shaft the root of wing be extended with the back, in, preceding 3 parallel back dynamical axiss, medium power axle and, preceding dynamical axis, the axis normal of these three dynamical axiss is in aircraft line of centers longitudinally, in each planar wings forward position partially the outside be stained with the flutter piece that disappears; Every dynamical axis of corresponding each planar wings, by inside and outside 2 independently, the electromagnetic driver that is parallel to each other of position drives, one end of the coil axes of electromagnetic driver is fixed on the fuselage, coil is on coil axes, one end of spring is connected with coil axes, and the other end of spring is connected on the dynamical axis, is fixed with permanent magnet in spring, on the dynamical axis, the axis of coil axes, coil, spring, permanent magnet overlaps, and perpendicular to wing aerofoil and dynamical axis; Each this device has pair of planar wings and 12 electromagnetic drivers at least, is symmetrical set on fuselage.According to by the forward position of planar wings backward, by the outside order of (wing tip) of root in the planar wings (wing root), the diameter of plane mesh skeleton from large to small.Permanent magnet in the electromagnetic driver is a cylindrical permanent magnet, and the arctic of cylindrical permanent magnet (or South Pole) end face is fixed on the dynamical axis of planar wings root
Each wing comprises plane mesh skeleton, film and the flutter piece that disappears.Plane mesh skeleton and film imitate insect wing skeleton and wing film respectively, and film is bonded on the mesh skeleton of plane, form aerofoil.
During use, the coil of each electromagnetic driver and the control system of minute vehicle are connected, provide the control current signal by control system, electric current flows through coil and generates an electromagnetic field, electromagnetic field drives alnico magnets and makes progress, moves downward, thereby drive the dynamical axis that links to each other with permanent magnet, also just driven wing.When the actuator that all upwards pushes away inboard alnico magnets, the outside when the interior side driver on 3 dynamical axiss of a wing all pulled down the alnico magnets in the outside, whole wing had just been realized the action of downward flapping wing; If the actuator on the preceding dynamical axis all upwards pushes away magnet, the actuator on the back dynamical axis all pulls down magnet, and whole wing has just been realized reversing of wing.The frequency of regulating control current signal can realize the rapid movement (as fluttering fast and reverse etc.) of wing.Change the intensity of current and the direction of current of control current signal, can realize the compound movement of wing.Under flight control system commander, the All Drives coordination just can realize the various simple and complicated flare maneuver of minute vehicle.
3, technique effect
The bionical Electromagnetic Drive flapping wing device of minute vehicle of the present invention, structure, distortion and the characteristics of motion of imitation insect sized flap wings system, make the minitype bionic aircraft that this kind " bionical Electromagnetic Drive sized flap wings system " has been installed that two wings that can move as insect wing to (or a pair of) be arranged, thereby make the minitype bionic aircraft might be free as insect, flexibly, flight promptly, specific as follows:
(1) " the bionical Electromagnetic Drive flapping wing device of minute vehicle " of the present invention can drive a wing by per 6 independent electromagnetic drivers, realizes the compound movement of each wing, thereby can imitate the motion of insect wing.
(2) " the bionical Electromagnetic Drive flapping wing device of minute vehicle " of the present invention, wing is made up of plane mesh skeleton, film and the flutter piece that disappears, and can be out of shape as insect wing in flight course, and the flutter piece that disappears can be eliminated the flutter of wing.
(3) " the bionical Electromagnetic Drive flapping wing device of minute vehicle " of the present invention can make wing become space curved surface, thereby can win the peace the different aerodynamic characteristic of face wing by the shape of a wing of per 6 independent electromagnetic drivers changes.
(4) " the bionical Electromagnetic Drive flapping wing device of minute vehicle " of the present invention, can independently control each wing, coordinate by the Different Exercise Mode picture that makes different wings, can realize aircraft at the uniform velocity flatly fly, quicken, slow down, advance, retreat, turn, climb, motion such as underriding.
(5) " the bionical Electromagnetic Drive flapping wing device of minute vehicle " of the present invention simple structure, easy for installation.
Four, description of drawings
Fig. 1 is a plan structure scheme drawing of the present invention.Plane mesh skeleton 1 is wherein arranged, the flutter piece 2 that disappears, film 3, back dynamical axis 4, medium power axle 5, preceding dynamical axis 6, control system 7, fuselage 8.
Fig. 2 is the backsight structural representation of Fig. 1 of the present invention.
Fig. 3 is the local A structure for amplifying scheme drawing of Fig. 2 of the present invention.Coil axes 9, coil 10, spring 11, cylindrical permanent magnet 12 are wherein arranged.
Fig. 4 is that left side airfoil member and the alnico magnets of Fig. 1 of the present invention are looked up enlarged diagram.The main shaft 13 that the plane mesh skeleton is wherein arranged.
The plan structure scheme drawing of a pair of wing of Fig. 5.
Five, body embodiment
The bionical Electromagnetic Drive flapping wing device of minute vehicle provided by the invention, by planar wings promptly comprise plane mesh skeleton 1, the main shaft 13 of the flutter piece 2 that disappears, film 3, back dynamical axis 4, medium power axle 5, preceding dynamical axis 6, plane mesh skeleton and electromagnetic driver comprise that promptly coil axes 9, coil 10, spring 11, permanent magnet 12 and control system 7, fuselage 8 form.
At first according to the mesh skeleton structure of the front and back wing of insect wing (as dragonfly Yan) and the shape and the relative size of wing eye (the flutter piece that disappears of dragonfly Yan), design the mesh skeleton structure 1 and the flutter piece 2 that disappears of this sized flap wings system front and back wing, according to the designed sized flap wings system mesh skeleton structure 1 and flutter piece 2 structures that disappear, the design processing mold; Then, the plane mesh skeleton 1 (main shaft 13 that comprises back dynamical axis 4, medium power axle 5, preceding dynamical axis 6 and plane net shape skeleton) and the flutter piece 2 that disappears can be by plastics disposable integral castings, and disappear flutter piece 2 and plane net shape skeleton 1 link together.Each leading edge, in partially the outside be stained with the flutter piece 2 that disappears.Film 3 can use food fresh keeping membrane, and film 3 is bonded on the mesh skeleton of plane 1, forms aerofoil.Each plane mesh skeleton has 3 thicker main shafts 13, main shaft 13 the root of wing be extended with the back, in, preceding 3 parallel back dynamical axiss 4, medium power axle 5 and preceding dynamical axiss 6, the axis normal of dynamical axis is in vertical (front and back) line of centers of aircraft.
Every dynamical axis of wing by inside and outside 2 independently, the electromagnetic driver that is parallel to each other of position drives, each electromagnetic driver is made up of coil axes 9, coil 10, spring 11, cylindrical permanent magnet 12, the axis of coil axes 9, coil 10, spring 11, cylindrical permanent magnet 12 overlaps, and perpendicular to wing aerofoil and dynamical axis.The interrelation of each parts of electromagnetic driver and wing dynamical axis is as follows:
Last 2 parallel cylindrical permanent magnets 12 vertically, at interval at first bond on each back dynamical axis 4 (or medium power axle 5, preceding dynamical axis 6) of wing root, the arctic of cylindrical permanent magnet 12 (or South Pole) end face is fixed on the back dynamical axis 4 (or medium power axle 5, preceding dynamical axis 6) of wing root, and the axis normal of cylindrical permanent magnet 12 is in aerofoil.Then 2 parallel springs 11 are enclosed within respectively outside each cylindrical permanent magnet cover 12, the axis of every cylindrical permanent magnet 12 and the dead in line that is enclosed within its exterior that root spring 11, and their axis is all perpendicular to aerofoil, an end that is enclosed within the spring 11 outside the permanent magnet 12 also is bonded in the same position of dynamical axis, the other end of 2 springs is bonding with 2 parallel coils axles 9 respectively again, the end face that specifically is spring 11 is bonded on the end face of coil axes 9, the dead in line of the axis of spring 11 and coil axes 9, the other end secured in parallel of 2 coil axess 9 is on fuselage 8, and 2 coils 10 are respectively on 2 coil axess 9.All electromagnetic drivers so far just can be realized the present invention by control system 7 controls.
Actual sized flap wings system can have only a pair of wing.
Claims (3)
1, a kind of bionical Electromagnetic Drive flapping wing device of minute vehicle, it is characterized in that this flapping wing device is made up of planar wings, electromagnetic driver, control system (7), fuselage (8), planar wings comprises plane mesh skeleton (1), the flutter piece (2) that disappears, film (3), back dynamical axis (4), medium power axle (5), preceding dynamical axis (6), plane mesh skeleton main shaft (13), and electromagnetic driver comprises coil axes (9), coil (10), spring (11), permanent magnet (12); Film (3) is bonded on the plane mesh skeleton (1), form aerofoil, each plane mesh skeleton (1) has 3 thicker plane mesh skeleton main shafts (13), plane mesh skeleton main shaft (13) the root of wing be extended with the back, in, preceding 3 parallel back dynamical axiss (4), medium power axle (5) and, preceding dynamical axis (6), the axis normal of these three dynamical axiss is in aircraft line of centers longitudinally, in each planar wings forward position partially the outside be stained with the flutter piece (2) that disappears; Every dynamical axis of corresponding each planar wings, by inside and outside 2 independently, the electromagnetic driver that the position is parallel to each other drives, one end of the coil axes of electromagnetic driver (9) is fixed on the fuselage (8), coil (10) is on coil axes (9), the same coil axes of one end (9) of spring (11) is connected, the other end of spring (11) is connected on the dynamical axis, in spring (11), be fixed with permanent magnet (12) on the dynamical axis, coil axes (9), coil (10), spring (11), the axis of permanent magnet (12) overlaps, and perpendicular to wing aerofoil and dynamical axis; Each this device has pair of planar wings and electromagnetic driver at least, is symmetrical set on fuselage (8).
The bionical Electromagnetic Drive flapping wing device of 2 minute vehicles according to claim 1 is characterized in that according to by the forward position of planar wings backward, by the outside order of root in the planar wings, the diameter of plane mesh skeleton (1) from large to small.
The bionical Electromagnetic Drive flapping wing device of 3 minute vehicles according to claim 1, it is characterized in that the permanent magnet (12) in the electromagnetic driver is a cylindrical permanent magnet, the arctic of cylindrical permanent magnet or South Pole end face are fixed on the dynamical axis of planar wings root
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031129447A CN1182004C (en) | 2003-03-10 | 2003-03-10 | Bionic electromagnetically driven flapping wing unit for mini aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031129447A CN1182004C (en) | 2003-03-10 | 2003-03-10 | Bionic electromagnetically driven flapping wing unit for mini aircraft |
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| Publication Number | Publication Date |
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| CN1453185A true CN1453185A (en) | 2003-11-05 |
| CN1182004C CN1182004C (en) | 2004-12-29 |
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| CNB031129447A Expired - Fee Related CN1182004C (en) | 2003-03-10 | 2003-03-10 | Bionic electromagnetically driven flapping wing unit for mini aircraft |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN104097771A (en) * | 2014-08-05 | 2014-10-15 | 佛山市神风航空科技有限公司 | Wing of ornithopter |
| CN104369864A (en) * | 2014-11-19 | 2015-02-25 | 上海工程技术大学 | Miniature insect-like double-rotation flapping wing air vehicle |
| CN104828246A (en) * | 2015-05-06 | 2015-08-12 | 李维农 | Scheme for improving efficiency of flapping-wing aircraft |
| CN104842341A (en) * | 2015-05-25 | 2015-08-19 | 哈尔滨工业大学 | Robot with resonant flapping wings |
| CN104986332A (en) * | 2015-07-10 | 2015-10-21 | 江旺强 | One-way flapping wing of thin-net-shaped support with multiple thin film sheets |
| WO2016177336A1 (en) * | 2015-05-06 | 2016-11-10 | 李维农 | Flapping wing machine and solution for improving efficiency of flapping wing aircraft |
| RU170947U1 (en) * | 2016-11-21 | 2017-05-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Ornithopter |
| CN107315416A (en) * | 2017-08-10 | 2017-11-03 | 陈国栋 | The environmental monitoring unmanned plane and its method of work of Beidou navigation |
| CN107444635A (en) * | 2017-08-10 | 2017-12-08 | 王雁平 | The unmanned plane of the Beidou navigation bionical wing driver of bat formula and its method of work |
| CN107792337A (en) * | 2017-08-30 | 2018-03-13 | 上海幂方电子科技有限公司 | A kind of flapping flight balloon |
| CN107985590A (en) * | 2017-11-28 | 2018-05-04 | 李维农 | Bilateral oscillator is fluttered its wings up and down machine |
| CN110450951A (en) * | 2019-07-30 | 2019-11-15 | 北京航空航天大学 | The wing and flapping wing aircraft of flapping wing aircraft |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100333969C (en) * | 2005-07-07 | 2007-08-29 | 中国航天科技集团公司第十一研究院 | Bionic flapping method for minisize aircraft |
| CN100355627C (en) * | 2005-11-09 | 2007-12-19 | 中国科学技术大学 | Mini-sized flap wings system of electro-magnet driving airfoil surface |
| CN101947388B (en) * | 2010-10-12 | 2012-06-20 | 上海交通大学 | Electromagnetic drive type flapping wing micro-aircraft |
-
2003
- 2003-03-10 CN CNB031129447A patent/CN1182004C/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN104097771A (en) * | 2014-08-05 | 2014-10-15 | 佛山市神风航空科技有限公司 | Wing of ornithopter |
| CN104097771B (en) * | 2014-08-05 | 2015-12-09 | 佛山市神风航空科技有限公司 | A kind of flapping-wing aircraft fin |
| CN104369864B (en) * | 2014-11-19 | 2016-11-09 | 上海工程技术大学 | A kind of miniature imitative insecticide dual rotary flapping wing aircraft |
| CN104369864A (en) * | 2014-11-19 | 2015-02-25 | 上海工程技术大学 | Miniature insect-like double-rotation flapping wing air vehicle |
| CN104828246A (en) * | 2015-05-06 | 2015-08-12 | 李维农 | Scheme for improving efficiency of flapping-wing aircraft |
| WO2016177336A1 (en) * | 2015-05-06 | 2016-11-10 | 李维农 | Flapping wing machine and solution for improving efficiency of flapping wing aircraft |
| CN104842341A (en) * | 2015-05-25 | 2015-08-19 | 哈尔滨工业大学 | Robot with resonant flapping wings |
| CN104842341B (en) * | 2015-05-25 | 2016-08-31 | 哈尔滨工业大学 | A kind of resonant wing robot of flapping |
| CN104986332A (en) * | 2015-07-10 | 2015-10-21 | 江旺强 | One-way flapping wing of thin-net-shaped support with multiple thin film sheets |
| WO2017008359A1 (en) * | 2015-07-10 | 2017-01-19 | 江旺强 | Unidirectional flapping wing with fine mesh-shaped bracket having multiple thin film sheets |
| US9938007B2 (en) | 2015-07-10 | 2018-04-10 | Wangqiang JIANG | Flapping wing with multi film sheets listed on net frame |
| RU170947U1 (en) * | 2016-11-21 | 2017-05-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Ornithopter |
| CN107315416A (en) * | 2017-08-10 | 2017-11-03 | 陈国栋 | The environmental monitoring unmanned plane and its method of work of Beidou navigation |
| CN107444635A (en) * | 2017-08-10 | 2017-12-08 | 王雁平 | The unmanned plane of the Beidou navigation bionical wing driver of bat formula and its method of work |
| CN107792337A (en) * | 2017-08-30 | 2018-03-13 | 上海幂方电子科技有限公司 | A kind of flapping flight balloon |
| CN107985590A (en) * | 2017-11-28 | 2018-05-04 | 李维农 | Bilateral oscillator is fluttered its wings up and down machine |
| CN110450951A (en) * | 2019-07-30 | 2019-11-15 | 北京航空航天大学 | The wing and flapping wing aircraft of flapping wing aircraft |
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| CN1182004C (en) | 2004-12-29 |
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